摘要
提出了自适应遗传算法(AGA)选取与优化自抗扰控制器(ADRC)参数的方法,较好地解决了其过多参数难以调节的问题。采用一阶ADRC对连续搅拌反应釜(CSTR)系统进行控制,并用简化的一阶ADRC控制平面两连杆机械手水平方向的正弦运动,仿真结果验证了算法的可行性和有效性。
A method of adopting the Adaptive Genetic Algorithm (AGA) to optimize parameters of the Active Disturbance Rejection Controller (ADRC) was proposed, which well solved the problem of adjusting its over-abundant parameters. A first-order ADRC was used to control the system of Continuous Stirred Tank Reactor (CSTR) and a simplified first-order ADRC was used to control the sinusoidal movement of the plane two-link manipulator in horizontal direction, Simulation results Prove the feasibility and validity of the algorithm.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2006年第7期1909-1911,1916,共4页
Journal of System Simulation
基金
教育科学技术研究项目(重大)(204181)
陕西省自然基金项目(2003F31)
关键词
自抗扰控制器
自适应遗传算法
参数优化
连续搅拌反应釜
两连杆机械手
Active Disturbance Rejection Controller (ADRC)
Adaptive Genetic Algorithm (AGA)
parameter optimizing
Continuous Stirred Tank Reactor (CSTR), two-link manipulator